Laboratory equipment alignment system and liquid handling system and methods including the same

Abstract

A laboratory instrument alignment system for use with laboratory instruments includes a frame and a mounting system. The frame includes a seat. The mounting system includes a pusher and a pusher actuator. The pusher is movable relative to the frame between an open position and a closed position. The pusher actuator includes an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position to the open position when the actuator linkage is displaced, and to allow the pusher to move to the closed position when the actuator linkage is not displaced. The biasing mechanism operates to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the laboratory instrument in the seat.

Description

[0001] Related applications

[0002] This application claims the benefit of and priority to U.S. Provisional Patent Application No. 62 / 962,357, filed on January 17, 2020, and U.S. Provisional Patent Application No. 62 / 964,441, filed on January 22, 2020, the disclosures of which are incorporated herein by reference in their entireties. Technical Field

[0003] The present technology relates to laboratory ware, and more particularly, to apparatus and methods for processing laboratory ware. Background Art

[0004] Laboratory liquid handling systems are used to transport and manipulate large quantities of liquids. One or more liquid samples can be provided in laboratory equipment containers (e.g., microplates or sample tube holders) within the liquid handling system. The liquid handling system may include one or more pipettes for removing (e.g., by aspiration) portions of samples from the laboratory equipment and / or adding (e.g., by dispensing) materials to samples in the laboratory equipment. In some cases, it may be desirable or necessary to move laboratory equipment or tools within the system. It may also be desirable or necessary to robotically move and position laboratory equipment and / or to perform procedures on laboratory equipment robotically, and in some cases, automatically and programmatically. It may also be desirable or necessary to attach and / or remove pipette tips from a pipette. Summary of the Invention

[0005] According to some embodiments, a laboratory instrument alignment system for use with a laboratory instrument includes a frame and a mounting system. The frame includes a seat. The mounting system includes a pusher and a pusher actuator. The pusher is movable relative to the frame between an open position and a closed position. The pusher actuator includes an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position to the open position when the actuator linkage is displaced, and to allow the pusher to move to the closed position when the actuator linkage is not displaced. The biasing mechanism operates to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the laboratory instrument in the seat.

[0006] In some embodiments, the biasing mechanism comprises a spring.

[0007] In some embodiments, the frame includes a barrier adjacent the seat and opposite the pusher, and the biasing mechanism urges the pusher to push the laboratory instrument against the barrier when the laboratory instrument is positioned in the seat and the actuator linkage allows the pusher to move from the open position to the closed position.

[0008] According to some embodiments, when the laboratory instrument is positioned in the seat and the actuator linkage allows the pusher to move from the open position to the closed position, the pusher displaces the laboratory instrument into alignment with the seat.

[0009] In some embodiments, the pusher includes an inclined bearing surface facing laterally inwardly toward the seat and upwardly away from the seat.

[0010] According to some embodiments, the actuator link includes an engagement member configured to be displaced by an operator to displace the actuator link to move the pusher from the closed position to the open position.

[0011] In some embodiments, the actuator linkage is configured to allow the pusher to move from the open position to the closed position when the operator releases the engagement member.

[0012] In some embodiments, the engagement member is mechanically linked to the pusher.

[0013] In some embodiments, the engagement member comprises a lever member and redirects movement of the operator in a first direction into translational movement of the pusher in a second direction transverse to the first direction.

[0014] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0015] According to some embodiments, the actuator linkage includes a guide feature that limits movement of the pusher to a linear translation along the pusher's axis of travel.

[0016] According to some embodiments, the laboratory instrument alignment system further comprises a detector system operative to determine the position of the pusher.

[0017] In some embodiments, the detector system includes a photoelectric emitter that generates a light beam and a photodetector configured to receive the light beam. When the pusher is in the closed position, the pusher prevents the light beam from reaching the photodetector. When the pusher is displaced by the laboratory appliance in the seat, the pusher allows the light beam to reach the photodetector.

[0018] According to some embodiments, the labware is at least one of a tip rack, a pipette tip rack, a well plate, a microplate, and a rack configured to hold a plurality of fluid receptacles.

[0019] Also disclosed are methods, including a method for aligning laboratory equipment, comprising providing a laboratory equipment alignment system comprising a frame and a mounting system. The frame comprises a seat. The mounting system comprises a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator comprises: a biasing mechanism operative to urge the pusher from the open position toward the closed position; and an actuator linkage. The method further comprises: mechanically displacing the actuator linkage so that the actuator linkage moves the pusher from the closed position to the open position; positioning the laboratory equipment in the seat with the pusher in the open position; and releasing the actuator linkage to allow the biasing mechanism to urge the pusher toward the closed position, thereby causing the pusher to align the laboratory equipment in the seat.

[0020] According to some embodiments, the method further comprises providing a transport system operable to move the laboratory apparatus, the transport system comprising a carrier configured to releasably hold the laboratory apparatus; mechanically displacing the actuator linkage comprises displacing an engagement member using the carrier; the method further comprises removing the carrier from the laboratory apparatus; and releasing the actuator linkage comprises withdrawing the carrier from the actuator linkage.

[0021] According to some embodiments, a liquid handling system for use with laboratory equipment includes an alignment system and a liquid handler. The alignment system includes a frame and a mounting system. The frame includes a seat. The mounting system includes a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator includes an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position to the open position when the actuator linkage is displaced, and to allow the pusher to move to the closed position when the linkage is not displaced. The biasing mechanism operates to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the laboratory equipment in the seat.

[0022] In some embodiments, the liquid handling system further comprises a transport system operable to move the laboratory instrument, wherein: the transport system comprises a carrier configured to releasably hold the laboratory instrument; and the transport system is configured to shift the actuator linkage to move the pusher from the closed position to the open position and place the laboratory instrument in the seat.

[0023] According to some embodiments, a laboratory instrument handling system for use with laboratory instruments includes a conveying system and an alignment system. The conveying system is operable to move the laboratory instrument. The conveying system includes a carrier configured to releasably hold the laboratory instrument. The alignment system includes a frame and a fixing system. The frame includes a seat. The fixing system includes a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator includes an actuator link and a biasing mechanism. The actuator link is configured to move the pusher from the closed position to the open position when the actuator link is displaced by the carrier, and to allow the pusher to move to the closed position when the actuator link is not displaced. The biasing mechanism operates to urge the pusher toward the closed position when the actuator link is not displaced, thereby causing the pusher to align the laboratory instrument in the seat.

[0024] According to some embodiments, the actuator linkage comprises an engagement member that is displaced by the carrier when the carrier is moved towards the seat to store the laboratory appliance in the seat.

[0025] In some embodiments, the actuator linkage is configured to allow the pusher to move from the open position to the closed position when the carrier moves away from the engagement member and releases the engagement member.

[0026] In some embodiments, the engagement member is mechanically linked to the pusher.

[0027] In some embodiments, the engagement member comprises a lever member that redirects movement of the carrier in a first direction into translational movement of the pusher in a second direction transverse to the first direction.

[0028] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0029] According to some embodiments, the carrier comprises a gripper configured to hold the laboratory appliance.

[0030] In some embodiments, the carrier includes a carrier arm, a support feature extending from the carrier arm, and a carrier actuator; the support feature is configured to engage the laboratory instrument to support the laboratory instrument; and the carrier actuator is operable to disengage the support feature from the laboratory instrument to release the laboratory instrument from the carrier and into the seat.

[0031] According to some embodiments, the conveying system includes a robotic arm, and the carrier is an end effector on the robotic arm.

[0032] According to some embodiments, the laboratory instrument handling system further includes a controller configured to automatically and programmatically operate the transport system to deposit the laboratory instrument in the receptacle and remove the laboratory instrument from the receptacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present technology.

[0034] Figure 1 is a front view of an illustrative laboratory liquid handling system including a laboratory ware handling system.

[0035] Figure 2 is based on Figure 1 A partial top rear perspective view of a laboratory ware handling system.

[0036] Figure 3 is based on Figure 1 A partially exploded top front perspective view of a labware handling system.

[0037] Figure 4 Is formed based on Figure 1 A partially exploded top rear perspective view of a laboratory ware holder that is part of a laboratory ware handling system.

[0038] Figure 5 Is the basis for formation Figure 4 Side view of a pusher of a portion of a labware holder.

[0039] Figure 6 yes Figure 1 A partial top view of a laboratory ware handling system with a pusher in an open position.

[0040] Figure 7 is based on Figure 1 Partial side view of a laboratory ware handling system with the pusher in the open position.

[0041] Figure 8 is based on Figure 1 A partial bottom perspective view of a laboratory ware handling system of FIG. 1 with the pusher in the open position.

[0042] Figure 9 is based on Figure 1 Partial top view of a labware handling system with a labware placed in a labware holder, the arms of the carrier in an open position, and the pusher in an open position.

[0043] Figure 10 is based on Figure 4Top view of a labware holder with a labware placed in the labware holder and a pusher in a fixed position.

[0044] Figure 11 is based on Figure 1 Partial side view of a laboratory liquid handling system with a labware positioned in a labware holder, a pusher in a fixed position, and a pipette tip removed from the labware.

[0045] Figure 12 is based on Figure 1 Partial side view of a laboratory liquid handling system wherein alternative labware is housed in a labware holder and a pipette is housed in a Figure 4 Align the vial with the labware in the labware holder.

[0046] Figure 13 is presented in the form of, for example, Figure 1 Schematic diagram of the controller of the laboratory liquid handling system portion of the system. DETAILED DESCRIPTION

[0047] The present technology will now be described more fully hereinafter with reference to the accompanying drawings, in which illustrative embodiments of the present technology are shown. In the drawings, relative sizes of regions or features may be exaggerated for clarity. However, the present technology can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of the technology to those skilled in the art.

[0048] It will be understood that although the terms "first," "second," etc. may be used herein to describe various elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer, or section from another region, layer, or section. Thus, a first element, component, region, layer, or section discussed below could be referred to as a second element, component, region, layer, or section without departing from the teachings of the present technology.

[0049] For ease of description, spatially relative terms, such as "below," "under," "beneath," "lower," "above," etc., may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as "below" or "beneath" another element or feature would be oriented "above" the other element or feature. Thus, the exemplary term "below" can encompass both orientations of above and below. The device may be oriented in other ways (rotated 90° or in other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0050] As used herein, the singular forms "a", "an" and "an" are intended to include the plural forms as well, unless expressly stated otherwise. It will also be understood that, when used in this specification, the terms "comprises", "includes" and / or "contains" specify the presence of stated features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be intervening elements. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0051] The term "automatic" means that the operation is substantially and completely performable without human or manual input and can be programmably directed or performed.

[0052] The term "programmatically" refers to operations directed and / or performed primarily electronically by computer program modules, codes, and / or instructions.

[0053] The term "electronically" includes both wireless and wired connections between components.

[0054] refer to Figure 1 , which illustrates an exemplary laboratory instrument processing system 101 according to certain embodiments of the present technology. The illustrated laboratory instrument processing system 101 forms a liquid processing system 10 ( Figure 1 ), however, it should be understood that the disclosed methods, systems, and apparatus are not limited to liquid handling systems and / or applications, and that the present disclosure is applicable to other systems and applications where alignment of laboratory equipment is desired. Figure 1 In the embodiment of FIG. 1 , a laboratory instrument handling system 101 transports and positions laboratory instruments 50 within the system 10 .

[0055] As discussed in more detail below, the illustrated example laboratory instrument handling system 101 includes a laboratory instrument transport system 70 and a laboratory instrument alignment system or laboratory instrument holder 100 (hereinafter referred to as the laboratory instrument holder 100). In some embodiments, the laboratory instrument transport system 70 transports the laboratory instrument 50 and places the laboratory instrument 50 in the laboratory instrument holder 100. In other embodiments or uses, a laboratory instrument transport system 70 is not provided or used to transport the laboratory instrument 50 and / or install the laboratory instrument 50 in the laboratory instrument holder 100.

[0056] refer to Figure 1 , the illustrated system 10 includes a platform or deck 12 , a frame 14 , a controller 20 , an analytical instrument 16 , a liquid handler 30 , a pipetting module 40 , and a pipetting module positioner 49 .

[0057] For the purpose of discussion and as Figure 1 and Figure 6 As shown in , the workspace defines a Z axis corresponding to a vertical line, and orthogonal X and Y axes that together define a horizontal plane.

[0058] In the illustrated embodiment, the labware 50 is a container that can be transported in the work area (relative to the deck 12), but the present disclosure is not limited to one type of labware. The labware shown includes a tray, rack, carrier, or tray 52 ( Figure 3 ) and a plurality of target units or objects 60 mounted in the tray 52 ( Figure 3 ). In some embodiments, such as the embodiment shown, object 60 is a pipette tip.

[0059] However, according to embodiments of the present technology, laboratory equipment may take other forms. In some embodiments, laboratory equipment 50 is a container configured to hold one or more liquid samples to be operated on by system 10. Laboratory equipment 50 may include a plurality of receivers, each of which is configured to hold a corresponding liquid sample. The receiver may be a separate vial or other container that is removably placed in tray 52 in place of pipette tips 60. As a further example, laboratory equipment 50 may be or include a well plate or microplate that includes an integral recess or receiver to directly accommodate a liquid sample. However, it will be understood that the disclosed methods, systems, and apparatus are not limited to use with laboratory equipment that holds objects (e.g., pipette tips) or liquid samples.

[0060] The labware 50 may be or include another configuration of a tray or rack that holds pipette tips, vials, or other suitable types of liquid containers or vessels.

[0061] Figure 3The illustrated tray 52 includes carrier engagement features in the form of grooves 54 extending horizontally along either side of the tray 52. ​​The illustrated tray 52 also includes a plurality of receptacles or slots 57, each of which is accessible from the top side of the tray 52. ​​In such a system, pipette tips 60 can each be mounted in a corresponding one of the slots 57. In some embodiments, the slots 57 are arranged in a prescribed XY array. For example, the illustrated tray 52 includes an 8×12 array of slots 57 (96 total slots).

[0062] For according to Figure 1 In the embodiments of the present disclosure, the liquid handler 30 can be understood as any device that can draw a desired amount of liquid from a container and / or dispense a desired amount of liquid into a container. For example, the exemplary liquid handler 30 can include a syringe or a pump that is fluidically connected to the pipetting module 40 via one or more sections of tubing 30A. The illustrated liquid handler 30 can be controlled by the controller 20.

[0063] The illustrated pipetting module 40 may include a housing or base 42 and a plurality of pipettes 44 mounted on the base 42. For example, the pipettes 44 may be arranged in a single row or in a defined XY array.

[0064] In such embodiments, a pipetting module positioner 49 may be provided to move the pipetting module 40 about the deck 12. The pipetting module 40 may include one or more pipette actuators 49A to selectively lower and raise (extend and retract) the pipette 44 relative to the base 42 and / or raise and lower the base 42 relative to the deck 12. The pipetting module positioning system 49 and the actuators 49A may be controlled by the controller 20.

[0065] refer to Figure 11 , and continue to refer to Figure 1 In the exemplary embodiment of the present invention, each pipette 44 can be understood as having a longitudinal axis TT and a distal portion 46. Similarly, each pipette 44 can be understood as including an axially extending channel 48B that terminates in an opening 48A at its distal portion 46. Figure 1 In use of the system, each pipette 44 can be raised and lowered along its longitudinal axis TT by a pipette actuator 49A. In some embodiments, the axis TT is substantially parallel to the vertical axis ZZ. In some embodiments, one or more of the pipettes 44 are fluidically connected to the liquid handler 30 via tubing 30A.

[0066] Each pipette 44 may also include a pipette tip ejection mechanism 47 (in Figure 11 Schematically illustrated in ).

[0067] Continue to refer Figure 11, each illustrated pipette tip 60 is tubular and has a distal end 60A and an opposing proximal end 60B. Each pipette tip 60 comprises a through-channel 66 that extends completely through the pipette tip 60 and terminates at a terminal opening 64 at its distal end 60A. Each pipette tip 60 also comprises a coupling base 62 that is on its proximal end 60B. Each pipette tip 60 is positioned in a corresponding one of the grooves 57 so that its coupling base 62 faces upward.

[0068] The distal portion 46 and the coupling base 62 of the pipette 44 are cooperatively adapted or configured to releasably or detachably secure each pipette tip 60 to the corresponding distal portion 46. In some embodiments, the pipette 44 and the pipette tip coupling base 62 are configured such that when the distal portion 46 is axially inserted into the coupling base 62, the coupling base 62 will grip (e.g., by an interference fit and / or by an O-ring (e.g., an elastomeric O-ring) mounted on the distal portion 46 or the coupling base 62) or interlock with the distal portion 46. In some embodiments, the grip or interlock is sufficient to retain the pipette tip 60 on the end portion 46 during operation as described herein, but also to allow the pipette tip 60 to be detached and removed from the end portion 46 when intentionally acted upon during a removal operation. In some embodiments, the pipette tip ejection mechanism 47 is configured to selectively and forcibly push each pipette tip 60 away from its associated pipette 44 .

[0069] refer to Figure 3 In some embodiments, the labware 50 is provided as a tip box or pipette tip box including a tray 52 , and the pipette tips 60 may be pre-installed therein, for example by a manufacturer.

[0070] The delivery system 70 ( Figure 1 ) includes an articulated robotic transport arm 72, a carrier 80 (configured as an end effector on the transport arm 72), and one or more transport arm actuators 74. The transport arm actuators 74 are operable to move the carrier 80 about the platen 12, including raising and lowering the carrier 80.

[0071] In some embodiments, the carrier 80 is a robotic gripper. Figure 3 ) includes a carrier base 82 and a pair of opposing carrier fingers or arms 84 mounted on the base 82. The illustrated carrier arms 84 are cantilevered from the carrier base 82 and extend along a longitudinal axis AA. The illustrated arms 84 are spaced about the axis AA to define an open space therebetween. Each arm 84 is provided with a support feature or protrusion 86 that projects laterally inwardly toward the opposing arm 84. In the illustrated embodiment, the support arms 84 and protrusions 86 define the carrier seat 81, but such an example is provided for illustration and not limitation.

[0072] The exemplary carrier 80 also includes a carrier actuator 83 configured to selectively displace the arms 84 laterally toward each other (in a converging direction DG) and laterally apart (in a diverging direction DR) along the transverse axis AA. In this manner, the carrier actuator 83 can be used to place the carrier 80 in an open position ( Figure 9 ), wherein the arms 84 are separated by a first distance, and alternatively, placed in a closed position ( Figure 6 ), wherein the arms 84 are laterally separated by a second distance that is less than the first distance.

[0073] It will be appreciated from the disclosure herein that the conveyor system 70 and carrier 80 may have different configurations than shown herein. For example, the conveyor system 70 may include a track and gantry mechanism instead of or in addition to the conveyor arm 72.

[0074] The configuration and functionality of the liquid handler 30, pipetting module 40, pipetting module positioner 49, and labware transport system 70 are merely exemplary, and it will be appreciated that these systems and components may be otherwise configured and operated in accordance with embodiments of the present technology.

[0075] The illustrated laboratory instrument holder 100 includes a frame 110 and a securing system 131 that define a laboratory instrument holder seat 102, but the present disclosure is not limited to such an embodiment. The laboratory instrument holder 100 may also include a laboratory instrument presence detection system 178 ( Figure 8 ).

[0076] Figure 3 The frame 110 includes a frame base 112 and three rigid stops 116A, 116B, 116C.

[0077] The exemplary frame 110 has a first or main axis MM ( Figure 10 ), a second or lateral axis LL and a third or height axis HH ( Figure 7 ). In some embodiments, the height axis HH is substantially vertical, and the major axis MM and the lateral axis LL are substantially perpendicular to each other and to the height axis HH.

[0078] Return to Figure 10 , the illustrated frame base 112 includes a planar, horizontally oriented support surface 114 ( Figure 3 ), which is defined by a front end side 112A, an opposite rear end side 112B, a first lateral side 112C, and an opposite second lateral side 112D. The recess 118 ( Figure 4 ) is defined in one corner of the base 112. The support surface 114 defines a substantially horizontal retainer base plane.

[0079] Stop 116A is located at the edge of rear end side 112B, near the corner between sides 112B and 112D. In this embodiment, stop 116B is located at the edge of lateral side 112D, near the corner between sides 112B and 112D, such that stops 116A and 116B are oriented perpendicular to each other and collectively define corner seat 117. Stop 116C is also located at the edge of lateral side 112D and is axially spaced from stop 116B. Stops 116B and 116C collectively form a lateral side barrier. Stop 116A forms an end barrier. Other configurations of stops may be used, and the present disclosure is not limited to the illustrated embodiment, which is provided for illustration and not limitation.

[0080] refer to Figure 4 , the illustrated securing system 131 includes a pusher 130, a mounting assembly 150, a pusher actuator link 160, and a spring 156. The actuator link 160 and the spring 156 together form a pusher actuator.

[0081] For the purposes of this disclosure, a pusher may be understood as a mechanism responsible for and / or capable of pushing a lab appliance component into a seat of a frame. Figure 4 and Figure 5 The illustrated pusher 130 includes a body or base 132 having a planar, horizontally oriented support surface 132A. The illustrated pusher 130 also includes an integral stop, post, or support feature 134 projecting upwardly from the support surface 132A and having a support surface 136. The support surface 136 ( Figure 5 ) includes a lower face 136A and a chamfered or inclined upper face 136B. As discussed below, the pusher 130 is slidably coupled to the base 112 to slide in an inward direction DC and an opposite outward direction DO along a substantially horizontal sliding or pusher travel axis PP. The pusher travel axis PP is substantially parallel to the main axis MM.

[0082] refer to Figure 5 , the lower face 136A of the pusher 130 is substantially planar and defines a pusher lower face plane. The pusher lower face plane extends substantially parallel to the vertical line ZZ (i.e., substantially perpendicular to the horizontal base plane of the support surface 114). The pusher lower face plane forms an inclination angle A1 ( Figure 10 ).

[0083] The upper face 136B of the illustrated pusher 130 is substantially planar and defines a pusher upper face plane. The pusher upper face plane is inclined at an angle A2 ( Figure 5 ) extends. The upper surface plane 136B forms an inclination angle A3 with the pusher travel axis PP ( Figure 10). An upper face 136B of the bearing surface 136 faces laterally inwardly toward the seat 102 and upwardly away from the seat 102.

[0084] It will be appreciated that the shape and configuration of the pusher 130 is exemplary and that according to other embodiments of the present technology, the pusher may have a different configuration.

[0085] Lever guide groove 140 ( Figure 4 ) is defined on an outer lateral side of the illustrated pusher 130. The lever guide slot 140 extends substantially vertically.

[0086] Integrated linear guide 142 ( Figure 5 、 8 ) extends along an interior lateral side of the pusher 130. The guide rail 142 extends along a substantially horizontal axis.

[0087] The integrated detection protrusion 144 ( Figure 5 、 8 ) protrudes forward from the front end of the pusher 130.

[0088] Mounting assembly 150 ( Figure 4 ) includes a fixed block 152 and a guide rail 154. The fixed block 152 is fixed to the base 112, and the guide rail 154 is fixed to the fixed block 152. The guide rail 154 defines a guide groove 154A in which the guide rail 142 is slidably received. The illustrated guide rail 142 and thus the pusher 130 are thus coupled to the base 112 to slide along the pusher travel axis PP. The guide rail 154 and the guide rail 142 ( Figure 5 、 8 ) limits the pusher 130 to linear movement along the pusher travel axis PP.

[0089] A spring 156 can serve as a biasing mechanism, but this is merely one example of a biasing mechanism. For the illustrated embodiment, the spring 156 can be any suitable type of spring. In some embodiments and as shown, the spring 156 is a wound coil spring. One end 156A of the spring 156 is anchored to the pusher 130 (e.g., via a spring pin). The opposite end 156B of the spring 156 is anchored to the base 112 (e.g., via an attachment feature or fastener).

[0090] refer to Figure 4 and Figure 6-8, the pusher actuator link 160 includes an engagement member or lever member 170, a lever holder 162, a pivot pin 164, and a guide pin 166. The lever member 170 includes an upper leg 172, a lower leg 174, a pivot hole 173, and an engagement feature 176. The lever holder 162 is rigidly mounted on the base 112. The lever member 170 is pivotally coupled to the lever holder 162 by the pivot pin 164 so as to pivot about a horizontal pivot axis QQ ( Figure 6 ) rotation. The upper leg 172 is laterally offset from the pivot axis QQ.

[0091] The guide pin 166 is fixed to the lower leg 174 and extends laterally inward. The guide pin 166 is slidably disposed in the guide slot 140 ( Figure 7 、 8 ) and mechanically connect the lever member 170 to the pusher 130.

[0092] An engagement feature 176 is located on the upper end of the upper leg 172. The engagement feature 176 includes an engagement surface on a top side thereof and has an inner section 176A extending toward the base 112 and an outer section 176B extending away from the base 112.

[0093] Now refer to Figure 8 , the detection system 178 includes an engagement member or photoelectric emitter 178A and a photoelectric sensor 178B, which can be spaced apart to define a slot 179 therebetween. As described below, when the pusher 130 is slid inwardly toward the closed position, the detection protrusion 144 is received in the slot 179, and when the pusher 130 is slid outwardly toward the open position, the detection protrusion 144 is removed from the slot 179.

[0094] refer to Figure 10 The illustrated seat 102 is defined by a base 112, stoppers 116A-C, a lever retainer 162, and a pusher 130. The seat 102 has a front end 102A proximate to a base front end 112A, a rear end 102B proximate to a base rear end 112B, a first lateral side 102C proximate to a base side 112C, and a second lateral side 102D proximate to a base lateral side 112D. The illustrated seat 102 also includes a top opening 102E ( Figure 3 ).

[0095] Now refer to Figure 6-11 1 and 2. The following describes exemplary operation of the system 10 and the laboratory instrument processing system 101 and the use of the holder 100 according to methods of the present technology. It will be appreciated that the following procedures are exemplary and may be modified according to the operator's desires.

[0096] Initially, the laboratory ware holder 100 is empty and no laboratory ware is placed in the carrier seat 81. The spring 156 holds the pusher 130 in the closed position (eg, Figure 2 and Figure 3 The front end of the pusher 130 abuts against the edge of the recess 118 ( Figure 4 In some embodiments, when pusher 130 is in its closed position, spring 156 is in tension (ie, stretched from its relaxed state) such that spring 156 applies a continuous load that pulls pusher 130 in the forward direction DR.

[0097] Continue to refer Figure 1 The laboratory tool 50 may be positioned on the deck 12 or elsewhere. For example, the laboratory tool 50 may be a tip rack stacked on one or more other tip racks in a location accessible to the transport system 70. The transport system 70 is operated to grasp the laboratory tool 50, transport the laboratory tool 50 to the holder 100, store the laboratory tool 50 in the holder 100, and release the laboratory tool 50. These operations may be performed by the controller 20.

[0098] More specifically, and as Figure 2 and Figure 3 , the arms 84 of the carrier 80 are separated by the carrier actuator 83 in the direction DR to an open position. In the open position, the arms 84 are spaced apart by a specified distance. In the open position, the spacing between the support protrusions 86 is greater than the corresponding width of the laboratory appliance 50.

[0099] like Figure 1 As shown in FIG, for the embodiment shown, the transport arm 72 is then driven by the transport arm actuator 74 to position the support protrusion 86 into alignment with the laboratory instrument recess 55 ( Figure 7 and Figure 8 ). Carrier actuator 83 ( Figure 3 ) The arms 84 are then displaced inwardly to a gripping position. In this gripping position, the arms 84 are spaced apart by a distance less than the first arm spacing distance, and the support protrusions 86 are received in the recesses 55. The laboratory appliance 50 is thereby gripped by the carrier 80. The support protrusions 86 are positioned below a portion of the laboratory appliance 50 so that the weight of the laboratory appliance 50 is supported by the support protrusions 86.

[0100] Figure 1 The transport arm 72 is then driven by the transport arm actuator 74 to position the carrier 80 and the gripped laboratory tool 50 on the seat 102 and approximately (but usually not exactly) align with the seat 102 (e.g., as shown in FIG. Figure 2 For example, in some embodiments, the laboratory appliance 50 is positioned relative to the lateral side boundaries 102A-D of the seat 102 ( Figure 10) is basically centered.

[0101] The transport arm 72 is then driven by the transport arm actuator 74 to move the carrier 80 (along the direction D4, Figure 7 ) and the gripped laboratory instrument 50 are lowered into the seat 102. As the carrier 80 descends, the left arm 84 contacts the Figure 4 As the arm actuator 74 moves the carrier 80 further downward, the arm 84 applies a downward vertical force to the engagement feature 176. This force mechanically displaces the lever member 170 to pivot about the pivot axis QQ ( Figure 6 ) along direction D5 ( Figure 7 ) rotates. The rotation of the lever member 170 causes Figure 4 The guide pin 166 is backward (direction DO, Figure 7 ) and displaces upward, causing the guide pin 166 to slide upward in the guide slot 140 while pushing the pusher 130 in the rearward direction DO. The link 160 thereby redirects the movement of the carrier arm 84 in the first direction into a translational movement of the pusher 130 in a second direction transverse to the first direction. More specifically, the link 160 thereby redirects or converts the vertical downward translational movement of the carrier arm 84 into a horizontal outward translational movement of the pusher 130. In some embodiments, the pusher travel axis PP ( Figure 7 ) is substantially perpendicular to the downward movement axis of the arm 84. The displacement of the pusher 130 stretches the spring 156, and the restoring force of the spring 156 keeps the lever member 170 in firm contact with the arm 84.

[0102] Pictorial Figure 1 The transport arm actuator 74 lowers the carrier 80 into the seat 102 until the pusher 130 is shifted to the open position ( Figure 6-8 ), and the laboratory appliance 50 rests on the support surface 114 of the base 112 ( Figure 3 )superior.

[0103] Figure 6 The lever member 170, the arm 84 and the laboratory appliance 50 are relatively constructed and arranged so as to prevent contact between the laboratory appliance 50 and the pusher 130. Before the laboratory appliance 50 enters the volume occupied by the pusher 130 in the closed position, the arm 84 (via the connecting rod 160, Figure 4 and Figure 6-8) displaces the pusher 130 outward and maintains the pusher 130 in this more open position until the laboratory appliance 50 rests on the support surface 114. That is, the link 170 places and maintains the pusher 130 in a position that avoids contact or interference between the pusher 130 and the laboratory appliance 50 when the laboratory appliance 50 is lowered into the seat 102. In the open position of the pusher 130, the spring 156 is stretched from its relaxed position.

[0104] Pusher 130 is moved from its closed position ( Figure 2 ; i.e., wherein the lever member 170 is in its upright ready position) travel distance L2 ( Figure 7 ) to its open position ( Figure 7 ; i.e., wherein the carrier arm 84 is in its lowest position on the lever member 170).

[0105] The laboratory appliance 50 is placed on the support surface 114 ( Figure 3 ), the actuator 83 moves the arms 84 apart and rearwardly to the carrier open position. In doing so, the left arm 84 slides outwardly from the inner section 176A along the lever member engagement feature 176 (direction D6; Figure 9 ) to the outer section 176B ( Figure 4 ). The support protrusion 86 is thereby withdrawn from the laboratory appliance recess 55 and positioned laterally away from the laboratory appliance 50. The vertical position of the left arm 84 remains the same during this transition, so that the position of the lever member 170 does not change and the pusher 130 is thereby maintained in its open position.

[0106] With the carrier arm 84 in the open position, the transport arm actuator 74 raises the carrier 80 vertically away from the seat 102 and the lever member 170. As the left carrier arm 84 is raised, the engagement feature 176 is no longer displaced by the left carrier arm 84 and is allowed to move upward. As a result, the lever member 170 rotates in a direction opposite to the direction D5. This release of the lever member 170 allows the spring 156 to urge the pusher 130 in the closing direction DC ( Figure 10 ) toward its closed position.

[0107] The restoring force of the spring 156 is applied to the laboratory appliance 50 by the pusher 130. As the pusher 130 moves toward its closed position, the pusher 130 engages the approach corner of the laboratory appliance 50. As the pusher 130 continues to move toward its closed position, the force of the spring 156 causes the pusher 130 to align the laboratory appliance 50 in the seat 102. More specifically, the spring-loaded pusher 130 displaces the laboratory appliance 50 into alignment with the seat 102.

[0108] Although the displacement of the pusher 130 is in the direction DC, the biased bearing surface 136A is forwardly biased toward the corner seat 117 (direction DF1; Figure 10 ) and transversely (direction DF2) on the laboratory appliance 50. The corners and sides of the laboratory appliance 50 that are furthest from the pusher 130 are thereby pushed upwards and loaded against the stops 116A-C.

[0109] like Figure 11 As shown in FIG, the pusher 130 is shown traveling a distance L3 in the direction DC until it adopts a fixed position in which the laboratory appliance 50 prevents the pusher 130 from traveling further. Figure 10 and Figure 11 ), the lever member 170 partially returns toward its upright, ready position. The return travel distance L3 is less than the opening travel distance L2 ( Figure 7 ). In this fixed position, the pusher 130 and the rear end 102B of the seat ( Figure 10 ) is less than the distance between the pusher 130 and the seat rear end 102B in the open position, but is greater than the distance between the pusher 130 and the seat rear end 102B in the closed position.

[0110] The spring-loaded pusher 130 clamps the laboratory appliance 50 between the pusher 130 and the stops 116A-C. In this manner, the laboratory appliance 50 is forcibly aligned, positioned, and registered with the holder 100 and seat 102. The laboratory appliance 50 is captured on the bearing surface 136A ( Figure 10 ) and the stops 116A-C. In some embodiments, the spring 156 remains stretched in the fixed position so that it continues to apply a load to the laboratory instrument 50 via the pusher 130, thereby fixing the laboratory instrument in place in the seat 102.

[0111] The labware 50 can then be operated by the system 10 while secured in the holder 100. In some embodiments, the system 10 uses the pipetting module 40 to perform operations while the labware is secured in the seat 102.

[0112] In some embodiments, the pipetting module 40 is used to perform a pipette tip loading operation when the labware 50 is secured in the seat 102. For example, in some embodiments, the pipetting module positioner 49 moves the pipetting module 40 into vertical alignment or registration with the labware 50, such as Figure 11. Then, the pipette actuator 49A lowers the pipette distal part 46 into the corresponding coupling base 62 of the pipette tip 60. The pipette tip 60 is thereby fixed to the pipette distal part 46. Then, the pipette actuator 49A raises the pipette 44 to remove the fixed pipette tip 60 from the groove 57. Figure 11 Center: The leftmost pipette 44-1 is shown raised after being inserted into its pipette tip 60, which is mounted on the distal portion 46 of the pipette 44-1 and ready for use; the next adjacent pipette 44-2 is shown lowered into its pipette tip 60 still seated in its slot 57; and the remaining pipettes 44 are shown in their raised positions without the pipette tips 60 being retrieved.

[0113] The pipette 44 with the pipette tip 60 mounted thereon can then be used to perform further operations. Such further operations may include aspirating and / or dispensing liquid through the pipette tip 60 using the liquid handler 30 (eg, as described below).

[0114] Figure 11 The illustrated ejection mechanism 47 can then be used to eject the pipette tip 60 from the pipette 44. For example, the pipetting module positioner 49 ( Figure 1 ) The pipetting module 40 can be moved again into vertical alignment or registration with the laboratory appliance 50, such as Figure 11 With the pipetting module 40 aligned in this manner, the ejection mechanism 47 can push the pipette tip 60 away from the pipette 44 and into a corresponding slot in the slot 57 .

[0115] In another embodiment, the labware 50 can be provided with an empty slot 57 (i.e., a slot 57 in which no pipette tips 60 are disposed) and mounted in the holder base 102, as described herein. The pipetting module positioner 49 and the ejection mechanism 47 can then be used to deposit the pipette tips 60 (which are otherwise mounted on the pipette 44) in the slot 57. For example, the labware 50 can be an empty tray for collecting used pipette tips 60 to be discarded.

[0116] When it is subsequently desired to remove the laboratory appliance 50 from the holder 100, the carrier 80 can be moved by the transport arm actuator 74 ( Figure 1 ) is positioned above and generally aligned with seat 102 (e.g., as Figure 2 If the carrier arm 84 is not already in its open position, the carrier actuator 83 ( Figure 3) places the arm 84 in the open position. The transport arm 72 is then driven by the transport arm actuator 74 to lower the carrier 80 (in direction D4) toward the seat 102. As the carrier 80 is lowered, the left arm 84 contacts the outer section 176B of the lever arm engagement feature 176 ( Figure 6 ). As the transport arm actuator 74 moves the carrier 80 further downward, the arm 84 applies a downward vertical force to the engagement feature 176. In the illustrated embodiment, this force causes the lever member 170 to rotate about the pivot axis QQ in the direction D5 and push the pusher 130 in the opening direction DO against the return force of the spring 156, as described above. In such an embodiment, the laboratory appliance 50 is thereby released (i.e., no longer clamped between the pusher 130 and the stop 116A-C). The transport arm actuator 74 lowers the carrier 80 into the seat until the pusher 130 is displaced to the fully open position ( Figure 7 ), and the carrier support protrusion 86 is aligned with the laboratory appliance groove 55.

[0117] The actuator 83 then displaces the arm 84 inwardly to the gripping position. In doing so, the left arm 84 moves inwardly (direction DG, DG) from the outer segment 176B along the lever member surface of the engagement feature 176. Figure 3 ) slides into the inner section 176A. The support protrusion 86 is thereby inserted into the laboratory appliance recess 55, and the laboratory appliance 50 is thereby grasped by the carrier 80. The vertical position of the left arm 84 remains the same during this transition, so that the position of the lever member 170 does not change, and the pusher 130 is thereby maintained in its open position.

[0118] With the carrier arm 84 gripping the labware 50 and the pusher 130 in the open position, the transport arm actuator 74 raises the carrier 80 (and the labware 50) vertically away from the seat 102 and the lever member 170. As the left carrier arm 84 is raised, the engagement feature 176 is allowed to move upward, and the lever member 170 is moved in a direction aligned with the direction D5 ( Figure 7 ) in the opposite direction. This allows the spring 156 to urge the pusher 130 in the closing direction DC ( Figure 10 ) slide. Because the laboratory appliance 50 has been removed from the seat, in the embodiment shown, the pusher 130 is allowed to return to its fully closed position ( Figure 2 ). The laboratory appliance 50 can then be transported to another location via the carrier 80 .

[0119] Photoelectric sensor 178B of detection system 178 ( Figure 8 ) can be controlled by the controller 20 ( Figure 1 ) is monitored, and the controller 20 uses the output of the photoelectric sensor to determine the holder 100 ( Figure 1) is occupied (i.e., whether the labware is present or absent). For example, photoelectric emitter 178A ( Figure 8 ) directs a light beam to photosensor 178B to form a light barrier across slot 179. When pusher 130 is in the closed position, detection protrusion 144 will be disposed in slot 179 and will block light from photosensor 178A to photosensor 178B, thereby indicating to controller 20 that the seat is empty. When laboratory appliance 50 is secured in seat 102, the width of laboratory appliance 50 holds pusher 130 in the secured position with detection protrusion 144 retracted from slot 179. In this case, detection protrusion 144 does not block light from photosensor 178A to photosensor 178B, thereby indicating to controller 20 that the seat is occupied.

[0120] Thus, it will be appreciated that the pusher actuator link 160 is configured to move the pusher 130 from its closed position ( Figure 2 and Figure 3 ) moves to the open position ( Figure 7 ). The pusher actuator link 160 is also configured to allow the pusher 130 to move back from the open position toward the closed position when the pusher actuator link 160 is no longer displaced by the operator. When the pusher actuator link 160 is not displaced by the operator, the spring 156 is operable to urge the pusher 130 toward the closed position and thereby cause the pusher 130 to align the laboratory appliance 50 in the seat 102. When the laboratory appliance 50 is positioned in the seat 102 and the pusher actuator link 160 allows the pusher 130 to move from the open position toward the closed position, the pusher 130 displaces the laboratory appliance into alignment with the seat 102 (e.g., Figure 10 ).

[0121] refer to Figure 12 In still further embodiments, the laboratory appliance 50 may be replaced with an alternative laboratory appliance 50'. The laboratory appliance 50' may be constructed and used in the same manner as the laboratory appliance 50, except as follows.

[0122] The laboratory apparatus 50' includes a tray 52' corresponding to the tray 52 and having a slot 57' corresponding to the slot 57. The laboratory apparatus 50' also includes vials or other containers or receptacles 68 configured to hold one or more liquid samples for operation of the system 10. The vials 68 are each removably positioned in a corresponding one of the slots 57' in place of the pipette tips 60. Each vial 68 has an opening at its proximal end 68A, and the opening faces upward.

[0123] The pipette 44 may have a pipette tip 60 mounted thereon. Figure 1 )Will Figure 12 The pipetting module 40 is moved into vertical alignment or registration with the laboratory instrument 50', such as Figure 12 Then, the pipette actuator 49A ( Figure 1 ) Lower the pipette tip 60 into the corresponding vial in the vial 68.

[0124] In some embodiments, the system 10 then aspirates the liquid from the vial 68 into the inserted pipette 44. In some embodiments, the system 10 then dispenses the liquid from the inserted pipette 44 into the vial 68.

[0125] The aspiration and / or dispensing can be accomplished using the liquid handler 30. For example, in some embodiments, the liquid handler 30 generates a vacuum to aspirate a volume of liquid from each vial 68 into the corresponding pipette 44. The aspirated liquid can be transferred to another device, such as the analytical instrument 16, via the conduit 30A, or can be subsequently dispensed from the pipette 44. In some embodiments, a volume of liquid is supplied from the liquid handler 30 to the pipette 44 via the conduit 30A and dispensed from the pipette 44 into the vial 68.

[0126] As a further example, the laboratory appliance 50' can be or include a well plate or microplate including an integral recess or receptacle to hold a liquid sample. In this case, the liquid sample is dispensed directly into or aspirated directly from the wells 57', which do not include separate vials.

[0127] The foregoing examples are not exhaustive, and system 10 may perform any suitable operations on fixed labware 50 , 50 ′ or other suitable labware.

[0128] The operations described herein may be performed by or through the controller 20. The actuators 49, 49A, 74, 83 and other devices of the system 10 may be electronically controlled. According to some embodiments, the controller 20 programmatically performs some, and in some embodiments, all, of the steps described. According to some embodiments, the movement of the actuators 49, 49A, 74, 83 is performed fully automatically and programmatically by the controller 20. The controller 20 may be provided with an HMI 22 to receive user commands.

[0129] In some embodiments, the controller 20 automatically and programmatically performs the following steps: grasping the labware 50, 50' with the carrier 80, transporting the labware 50, 50' in the carrier 80 to the holder 100, and placing the labware 50, 50' into the seat 102 (including opening the pusher 130 via the linkage 160 as described above).

[0130] In some embodiments, the controller 20 automatically and programmatically performs the steps of positioning the pipetting module 40 over the labware 50, 50' mounted in the holder 100 and inserting the pipette 44 into the pipette tip 60 or vial 68. In some embodiments, the controller 20 also automatically and programmatically performs the steps of aspirating liquid from or dispensing liquid into the vial 68, as described above.

[0131] In some embodiments, the controller 20 automatically and programmatically performs the following steps: inserting the carrier 80 into the seat 102 (including opening the pusher 130 via the linkage 160 as described above), grasping the labware 50, 50' with the carrier 80 in the seat 102, lifting the labware 50, 50' from the holder 100, and transporting the labware 50, 50' in the carrier 80 away from the holder 100.

[0132] In some embodiments, the laboratory instruments 50, 50' are manually placed in and / or removed from the holder 100, rather than using the carrier 80 or other robotic mechanism. This can be accomplished using either of two techniques. The laboratory instrument 50 is referenced below; however, it will be appreciated that the discussion is equally applicable to other laboratory instruments (e.g., the laboratory instrument 50').

[0133] According to the first technique, the operator (i.e., human user) moves downward (direction D4; Figure 7 ) and / or lateral (direction D5; Figure 7 ) presses against the upper leg 172 of the lever member 170 to thereby urge the pusher 130 into its open position. In this manner, an operator can manually use the operator's fingers or hand to press or displace the lever member 170, either directly or indirectly using, for example, a hand tool. The operator or user then places the laboratory appliance 50 on the base support surface 114 in the seat 102 while holding the lever member 170 in the open position. Once the laboratory appliance 50 is placed or positioned in the seat 102, the operator manually releases the lever member 170, which allows the pusher 130 to retract (under the force of the spring 156) and positively position the laboratory appliance 50 in the seat in the same manner as described herein.

[0134] According to another technique, a human operator manually places or presses the laboratory appliance 50 into the seat 102 without depressing the lever member 170. In this case, a corner of the laboratory appliance 50 contacts the inclined surface 136B ( Figure 5). A vertically downwardly directed load from the laboratory appliance 50 is redirected by the ramp 136B and causes the pusher 130 to slide outward (direction DO) against the restoring force of the spring 156 until the laboratory appliance 50 clears the lower edge of the ramp 136B. When the laboratory appliance 50 is placed on the support surface 114 and released by the operator, the pusher 130 (under the force of the spring 156) will positively position the laboratory appliance 50 in the seat in the same manner as described above.

[0135] The laboratory appliance 50 can be removed from the holder 100 by simply lifting the laboratory appliance from the seat 102 by hand, thereby allowing the pusher 130 to return to its closed position. If desired, the lever member 170 ( Figure 7 ) to urge the pusher 130 away from the laboratory instrument 50 before lifting to facilitate removal.

[0136] In a system including a transport system such as transport system 70 , laboratory ware can be loaded into and / or removed from holder 100 both robotically and manually.

[0137] According to another embodiment, holder 100 can be used in systems, devices or processes that do not include or adopt a transport system or carrier. In this case, the laboratory appliance can be installed in the holder or removed from the holder only by hand.

[0138] In an embodiment, holder 100 and mobile, spring-loaded fixing mechanism 131 can provide many benefits and advantages.For example, holder 100 makes it possible to place and locate accurate laboratory equipment.The precise positioning of laboratory equipment may be important, and even critical, for continuous operations such as taking out pipette tips 60 or using an automatically positioned pipette 44 to pipette from a receiver 68. The pipette may need high positioning accuracy to enable accurate registration between the pipette 44 and the pipette tip 60 or the receiver 68. When it is desired to remove the laboratory equipment from holder 100, this precise alignment also makes it possible to accurately transfer back to the carrier.

[0139] By pushing the pusher 130 far away from the seat 102, the holder 100 provides increased tolerance for initially placing the laboratory utensil in the seat 102. Nevertheless, as a result of the disclosed positioning system and method, after the laboratory utensil is initially placed in the seat 102, the laboratory utensil is subsequently precisely aligned. In an embodiment, the laboratory utensil is not affected by external forces during movement into and out of the holder 100 and is locked in the holder 100 when the carrier 80 is moved out. Thus, the risk of tilting or toppling the laboratory utensil 50, 50' during transfer can also be reduced or eliminated. Moving the pusher 130 far out allows for inaccurate or rough alignment between the laboratory utensil and the seat 102 during initial placement.

[0140] The spring-loaded securing mechanism may enable labware of varying sizes to be inserted and effectively secured in a given holder 100 without requiring operator adjustment.

[0141] The spring-loaded fixing mechanism 131 is passive and its operation is not electronic. The fixing mechanism 131 shown does not include or need a separate active actuator, sensor or switch to open and close the positioning mechanism. As a result, there is no need to coordinate the action or actuation timing of the retainer actuator with the movement of the carrier 80 or the laboratory appliance 50, 50'. The retainer 100 can be independent of the precise positioning of the carrier or the precise manipulation of the retainer 100 by a robot or a manual operator. It is not necessary to change the robot, its end effector or its typical movement path in order to operate the fixing mechanism 131.

[0142] The laboratory instrument holder 100 can accommodate laboratory instruments gripped at or near its midsection. When the holder 100 is loaded using a robotic carrier, the securing mechanism 131 operates without loading the laboratory instruments 50, 50' until the carrier releases the laboratory instruments. The carrier's gripping force is unrestricted because no spring force is applied to the laboratory instruments while they are being gripped. Therefore, the carrier can hold the laboratory instruments with minimal or limited gripping force. The securing mechanism 131 can be designed to optimize gripping by using a certain amount of spring force on the pusher without compromising the carrier's grip on the laboratory instruments.

[0143] Precise, consistent, and repeatable positioning of the labware in the holder 100 ensures proper matching between the XY orientations of the holder 100 , the labware 50 , 50 ′, and the pipette 44 .

[0144] For example, systems and holders according to embodiments of the present technology may be used in biochemical and chemical processing, liquid handling, and analysis of samples in a laboratory.Analytical instrument 16 may be any suitable device or instrument.

[0145] Embodiments of the logic of controller 20 may take the form of entirely software embodiments or embodiments combining software and hardware aspects, all of which are collectively referred to herein as "circuits" or "modules." In some embodiments, these circuits include both software and hardware, and the software is configured to work with specific hardware having known physical properties and / or configuration. Additionally, the controller logic may take the form of a computer program product on a computer-usable storage medium having computer-usable program code embodied in the medium. Any suitable computer-readable medium may be utilized, including hard disks, CD-ROMs, optical storage devices, transmission media such as those supporting the Internet or an intranet, or other storage devices.

[0146] Figure 13 2 is a schematic diagram of a circuit or data processing system 202 that may be used in controller 20. These circuits and / or data processing systems may be incorporated into a digital signal processor 210 in any suitable device or devices. Processor 210 communicates with HMI 22 and memory 212 via an address / data bus 211. Processor 210 may be any commercially available or custom microprocessor. Memory 212 represents the overall hierarchy of memory devices containing software and data used to implement the functionality of the data processing system. Memory 212 may include, but is not limited to, the following types of devices: cache, ROM, PROM, EPROM, EEPROM, flash memory, SRAM, and DRAM.

[0147] Figure 13 Memory 212 is illustrated as including several types of software and data used in the data processing system: operating system 214 ; application programs 216 ; input / output (I / O) device drivers 218 ; and data 220 .

[0148] Data 220 may include device-specific data. Figure 13 Also illustrated is that data 220 may include labware data 222 , labware holder data 224 , pipetting module data 226 , and process data 228 .

[0149] The labware data 222 may include data related to or indicative of the characteristics of the labware 50, 50'. For example, the data may include a unique identifier (e.g., a serial number) and / or name of the labware 50, 50', a name of the labware 50, 50', a unique identifier and / or name of the pipette tip 60, a unique identifier and / or name of each vial 68, and / or a description of one or more analytes contained in the labware 50, 50' or each vial 68 or well / receptacle 57. The labware data 222 may include dimensions of the labware 50, 50', pipette tip 60, vial 68, and / or well or receptacle 57. The labware data 222 may include positional data indicating the spatial or geometric arrangement or position of the well 57, pipette tip 60, or vial 68 relative to the outer boundaries of the labware 50, 50'.

[0150] The labware holder data 224 may include identification of the position of the receptacle 102 relative to the platen 12 or another reference structure of the system 10 .

[0151] The pipetting module data 226 may include pipette position data representing the spatial or geometric arrangement or position of the pipette 44 relative to the base 42 .

[0152] The process data 228 may include data representing a protocol or sequence of steps for performing the processes described herein. The sequence of steps may include all or some of the steps described above as performed by the controller 20. For example, the sequence of steps may include an analysis sequence.

[0153] Figure 13 It is also illustrated that the application 216 may include: a carrier positioning control module 230 (to control actuators 74, 83); a pipette positioning control module 234 (to control actuators 49, 49A); and a liquid handler control module 236 to control the liquid handler 30; and an analytical instrument control module 238 to control the operation of the analytical instrument 16.

[0154] As will be appreciated by those skilled in the art, operating system 214 may be any operating system suitable for use with the data processing system. I / O device drivers 218 generally include software routines that are accessed by application programs 216 through operating system 214 to communicate with devices such as I / O data ports, data storage, and certain memory components. Application programs 216 illustrate programs that implement various features of the data processing system and may include at least one application that supports operation according to embodiments of the present technology. Finally, data 220 represents static and dynamic data used by application programs 216, operating system 214, I / O device drivers 218, and other software programs that may reside in memory 212.

[0155] As will be appreciated by those skilled in the art, other configurations may also be utilized while still benefiting from the teachings of the present technology. For example, one or more of the modules may be incorporated into an operating system, an I / O device driver, or other such logical divisions of a data processing system. Therefore, the present technology should not be construed as being limited to Figure 13 The configuration of the present invention is intended to encompass any configuration capable of performing the operations described herein. In addition, one or more of the modules may communicate with other components or be fully or partially integrated into other components, such as the controller 20.

[0156] Without departing from the spirit and scope of the present invention, those skilled in the art may make many changes and modifications with the benefit of this disclosure. Therefore, it must be understood that the illustrated embodiments are set forth for illustrative purposes only and should not be construed as limiting the present invention as defined by the appended claims. Therefore, the appended claims should be understood to include not only the combination of elements set forth literally, but also all equivalent elements for performing substantially the same function in substantially the same manner to obtain substantially the same results. Therefore, the claims should be understood to include what is specifically illustrated and described above, what is conceptually equivalent, and what is combined with the basic concept of the present invention.

Claims

1. A laboratory instrument alignment system for use with a laboratory instrument and a transport system for moving the laboratory instrument, the transport system comprising a carrier configured to releasably hold the laboratory instrument, the laboratory instrument alignment system comprising: A frame including a seat; as well as A fixing system comprising: a pusher movable relative to the frame between an open position and a closed position; and A pusher actuator comprising: An actuator linkage configured to: moving the pusher from the closed position to the open position when the actuator link is displaced; and allowing the pusher to move toward the closed position when the actuator link is not displaced; and a biasing mechanism operative to urge the pusher toward the closed position when the actuator linkage is not displaced, and thereby cause the pusher to align the laboratory instrument in the seat, wherein the actuator linkage comprises a lever member configured to be pivoted by the carrier to move the pusher from the closed position toward the open position, wherein the lever member is mechanically linked to the pusher, and wherein, as the carrier moves toward the seat to store the laboratory appliance held by the carrier in the seat, the lever member redirects the downward movement of the carrier in a vertical direction into an outward translational movement of the pusher in a horizontal direction to move the pusher toward the open position.

2. The laboratory tool alignment system of claim 1 , wherein: The biasing mechanism includes a spring.

3. The laboratory tool alignment system of claim 1 , wherein: The frame includes a barrier adjacent to the seat and opposite the pusher; as well as When the laboratory appliance is positioned in the seat and the actuator linkage allows the pusher to move from the open position to the closed position, the biasing mechanism urges the pusher to push the laboratory appliance against the barrier.

4. The laboratory tool alignment system of claim 1 , wherein: When the laboratory appliance is positioned in the seat and the actuator linkage allows the pusher to move from the open position to the closed position, the pusher displaces the laboratory appliance into alignment with the seat.

5. The laboratory tool alignment system of claim 1 , wherein: The pusher includes an inclined bearing surface facing laterally inwardly toward the seat and upwardly away from the seat.

6. The laboratory tool alignment system of claim 1 , wherein: The actuator linkage is configured to allow the pusher to move from the open position to the closed position when the carrier releases the lever member.

7. The laboratory tool alignment system of claim 1 , wherein: The actuator linkage includes a guide feature that limits movement of the pusher to linear translation along the pusher axis of travel.

8. The laboratory instrument alignment system of claim 1, further comprising a detector system operative to determine a position of the pusher.

9. The laboratory tool alignment system of claim 8, wherein: The detector system comprises: a photoelectric transmitter that generates a light beam; and a photodetector configured to receive the light beam; When the pusher is in the closed position, the pusher blocks the light beam from reaching the photodetector; and When the pusher is displaced by the laboratory appliance in the seat, the pusher allows the light beam to reach the photodetector.

10. The laboratory tool alignment system of claim 1, wherein: The labware is at least one of a tip box, a pipette tip box, a well plate, a microplate, and a rack configured to hold a plurality of fluid receptacles.

11. A method for aligning laboratory equipment, the method comprising: Provides a labware alignment system that includes: a frame including a seat; and A fixing system comprising: a pusher movable relative to the frame between an open position and a closed position; and A pusher actuator comprising: a biasing mechanism operative to urge the pusher from the open position toward the closed position; and actuator linkage; providing a transport system operable to move the laboratory appliance, the transport system comprising a carrier configured to releasably retain the laboratory appliance; mechanically displacing the actuator linkage so that the actuator linkage moves the pusher from the closed position to the open position; positioning the laboratory instrument in the seat with the pusher in the open position; and releasing the actuator linkage to allow the biasing mechanism to urge the pusher toward the closed position and thereby cause the pusher to align the laboratory instrument in the seat, wherein the actuator linkage comprises a lever member configured to be pivoted by the carrier to move the pusher from the closed position toward the open position, wherein the lever member is mechanically linked to the pusher, and wherein mechanically displacing the actuator linkage comprises: as the carrier moves toward the seat to deposit the laboratory instrument held by the carrier in the seat, the lever member redirects downward movement of the carrier in a vertical direction into outward translational movement of the pusher in a horizontal direction to move the pusher toward the open position.

12. The method according to claim 11, wherein: The method further comprises removing the carrier from the laboratory appliance; and Releasing the actuator linkage includes withdrawing the carrier from the actuator linkage.

13. A liquid handling system for use with laboratory equipment, the liquid handling system comprising: An alignment system comprising: a frame including a seat; and A fixing system comprising: a pusher movable relative to the frame between an open position and a closed position; and A pusher actuator comprising: An actuator linkage configured to: moving the pusher from the closed position to the open position when the actuator link is displaced; and allowing the pusher to move toward the closed position when the link is not displaced; and a biasing mechanism operative to urge the pusher toward the closed position when the actuator linkage is not displaced, and thereby cause the pusher to align the laboratory instrument in the seat; a transport system operable to move the laboratory appliance, the transport system comprising a carrier configured to releasably retain the laboratory appliance; and Liquid Handlers, wherein the actuator linkage comprises a lever member configured to be pivoted by the carrier to move the pusher from the closed position toward the open position, wherein the lever member is mechanically linked to the pusher, and wherein, as the carrier moves toward the seat to store the laboratory appliance held by the carrier in the seat, the lever member redirects the downward movement of the carrier in a vertical direction into an outward translational movement of the pusher in a horizontal direction to move the pusher toward the open position.

14. A laboratory instrument handling system for use with a laboratory instrument, the laboratory instrument handling system comprising: a transport system operable to move the laboratory appliance, the transport system comprising a carrier configured to releasably retain the laboratory appliance; as well as An alignment system comprising: a frame including a seat; and A fixing system comprising: a pusher movable relative to the frame between an open position and a closed position; and A pusher actuator comprising: An actuator linkage configured to: moving the pusher from the closed position to the open position when the actuator link is displaced by the carrier; and allowing the pusher to move toward the closed position when the actuator link is not displaced; and a biasing mechanism operative to urge the pusher toward the closed position when the actuator linkage is not displaced, and thereby cause the pusher to align the laboratory instrument in the seat, wherein the actuator linkage includes a lever member configured to be pivoted by an operator to move the pusher from the closed position toward the open position, Wherein, the laboratory instrument processing system further comprises a controller configured to automatically and programmatically operate the transport system so as to: moving the laboratory tool to the seat while retaining the laboratory tool in the carrier; displacing the lever member with the carrier to move the pusher from the closed position to the open position to receive the laboratory appliance in the seat; and thereafter The labware is stored in the seat with the pusher in the open position.

15. The laboratory instrument processing system according to claim 14, wherein: The transport system is configured to bring the lever member into contact with the carrier such that as the carrier moves toward the seat to store the laboratory appliance in the seat, the carrier displaces the lever member and thereby actuates the pusher from the closed position toward the open position.

16. The laboratory instrument processing system according to claim 15, wherein: the transport system being configured to move the carrier away from the seat after the transport system has deposited the laboratory appliance in the seat; and The actuator linkage is configured to allow the biasing mechanism to move the pusher from the open position to the closed position in response to the carrier moving away from the lever member and releasing the lever member.

17. The laboratory instrument processing system according to claim 15, wherein: The lever member is mechanically linked to the pusher.

18. The laboratory instrument processing system according to claim 17, wherein: The lever member redirects movement of the carrier in a first direction into translational movement of the pusher in a second direction transverse to the first direction.

19. The laboratory instrument processing system according to claim 18, wherein: The first direction is vertical, and the second direction is horizontal.

20. The laboratory instrument processing system of claim 14, wherein: The carrier includes a gripper configured to hold the laboratory ware.

21. The laboratory instrument processing system of claim 14, wherein: The carrier includes a carrier arm, a support feature extending from the carrier arm, and a carrier actuator; the support feature being configured to engage the laboratory appliance to support the laboratory appliance; as well as The carrier actuator is operable to disengage the support feature from the laboratory instrument to release the laboratory instrument from the carrier and into the seat.

22. The laboratory instrument processing system of claim 14, wherein: The conveying system includes a robotic arm, and the carrier is an end effector on the robotic arm.

23. A method for aligning laboratory equipment, the method comprising: Provides a labware alignment system that includes: a frame including a seat; and A fixing system comprising: a pusher movable relative to the frame between an open position and a closed position; and A pusher actuator comprising: a biasing mechanism operative to urge the pusher from the open position toward the closed position; and actuator linkage; mechanically displacing the actuator linkage so that the actuator linkage moves the pusher from the closed position to the open position; positioning the laboratory instrument in the seat with the pusher in the open position; and releasing the actuator linkage to allow the biasing mechanism to urge the pusher toward the closed position and thereby cause the pusher to align the laboratory instrument in the seat, The method further includes providing a transport system operable to move the laboratory instrument, the transport system comprising a carrier configured to releasably retain the laboratory instrument; Mechanically displacing the actuator link includes displacing an engagement member of the actuator link using the carrier; The method further comprises removing the carrier from the laboratory appliance; and releasing the actuator linkage includes withdrawing the carrier from the actuator linkage, The method further includes automatically and programmatically operating the delivery system to: moving the laboratory tool to the seat while retaining the laboratory tool in the carrier; displacing the engagement member with the carrier to move the pusher from the closed position to the open position to receive the laboratory appliance in the seat; and thereafter The labware is stored in the seat with the pusher in the open position.

24. A laboratory instrument handling system for use with a laboratory instrument, the laboratory instrument handling system comprising: a transport system operable to move the laboratory appliance, the transport system comprising a carrier configured to releasably retain the laboratory appliance; as well as An alignment system comprising: a frame including a seat; and A fixing system comprising: a pusher movable relative to the frame between an open position and a closed position; and A pusher actuator comprising: An actuator linkage configured to: moving the pusher from the closed position to the open position when the actuator link is displaced by the carrier; and allowing the pusher to move toward the closed position when the actuator link is not displaced; and a biasing mechanism operative to urge the pusher toward the closed position when the actuator linkage is not displaced, and thereby cause the pusher to align the laboratory instrument in the seat, in: The actuator linkage includes an engagement member; and the transport system being configured to bring the engagement member into contact with the carrier such that as the carrier moves toward the seat to deposit the laboratory appliance in the seat, the carrier displaces the engagement member and thereby actuates the pusher from the closed position toward the open position, Wherein, the laboratory instrument processing system further comprises a controller configured to automatically and programmatically operate the transport system so as to: moving the laboratory tool to the seat while retaining the laboratory tool in the carrier; displacing the engagement member with the carrier to move the pusher from the closed position to the open position to receive the laboratory appliance in the seat; and thereafter The labware is stored in the seat with the pusher in the open position.

25. The laboratory instrument processing system according to claim 24, wherein: the transport system being configured to move the carrier away from the seat after the transport system has deposited the laboratory appliance in the seat; and The actuator linkage is configured to allow the biasing mechanism to move the pusher from the open position to the closed position in response to the carrier moving away from the engagement member and releasing the engagement member.

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